User manual

Copyright © Dr Robot Inc. 2005
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I. PMS5005 Sensing and Motion Controller
I.1 Introduction
The PMS5005 Robot Sensing/Motion Controller can be used as sensing, control, motion execution,
LCD display and wireless communication processing unit for various robotic applications. Its onboard
firmware makes the low level function modules such as motor driver module and wireless
communication module transparent to the users. A host (e.g. PC, DSP, or processor) will be used to
communicate and control the PMS5005 for different applications through the UART (serial) interface.
The system can help robotic and AI researchers and developers focus on the high level logic and
algorithm design, and avoid the hassle of writing low level device drivers, standard control schemes
and troubleshooting the electronic circuits. The ease of use, powerful functionality and onboard
intelligence can eliminate design risk, streamline hardware and software development, and
significantly shorten the time to delivery while effectively reducing the cost. Typical applications
include humanoid robot, legged robot, wheel-based robot, robot head, robot arm and robot hand.
I.1.1 PMS5005 Robot Sensing/Motion Controller Architecture
As shown in Figure I.1, the PMS5005 features functionalities required by most of the robotic
applications, such as sensing, motion control, and data communication.
The PMS5005 contains the following features and capabilities:
- 40MIPS 16-bit fix-point hybrid DSP/MCU
- 36K x 16-bit words flash
- 2.5K x 16-bit words SRAM
- Build-in
o A/D reference voltage monitoring
o Over-heating sensor (x2)
o System voltage monitoring (x1)
o Watchdog timer (x1)
o Full duplex UART (x2)
- Embedded firmware for configurable closed loop position, velocity, various sensor data acquisition,
LCD graphic display, wired and wireless communication
- Interfaces to
o MDM5253 DC motor driver module with position and current feedback (x2), which includes
 General-purpose PWM DC motor interface (x6)
 Motor current feedback interface (x6)
 Potentiometer position feedback sensor interface (x6)
o Quadrature encoder (x2)
o Standard RC servo motor (x6)
o DUR5200 Ultrasonic range sensor module (x6)
o DHM5150 Human sensor module (x2)
o DAT5280 Ambient temperature sensor module (x1)
o GP2Y0A21YK Infrared range sensor (x1)
o DTA5102 2 axis tilt/acceleration sensor module (x1)
o Custom A/D (x 8 including 3 channels of optional battery voltage monitoring). It can connect
to MSA3502 if signal amplifying is needed.
o Custom digital input (x8)
o Custom digital output (x8)
o MGL5128 Graphic LCD display module (128 x 64) (x1)
o MIR5538/5540 Full duplex infrared remote control and communication module (x1)